Merge branch 'dev/rene' into feature/relast. this required many adaptations.

.gitignore

@@ -5,8 +5,3 @@
 .classpath
 .idea/
 .gradle/
-build
-src/gen-res/
-src/gen/
-out/
-*.class

build.gradle

-
-apply plugin: 'java'
-apply plugin: 'jastadd'
-apply plugin: 'application'
-apply plugin: "idea"
-
-sourceCompatibility = 1.8
-
-mainClassName = 'org.jastadd.ros2rag.compiler.Compiler'
-
-repositories {
-    jcenter()
-}
-
-buildscript {
-    repositories.jcenter()
-    dependencies {
-        classpath 'org.jastadd:jastaddgradle:1.13.3'
-    }
+plugins {
+    id "com.github.ben-manes.versions" version "0.20.0"
 }
 
-dependencies {
-    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.4.0'
-    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.0'
-    testCompile 'org.assertj:assertj-core:3.12.1'
-    compile 'com.fasterxml.jackson.core:jackson-core:2.9.8'
-    compile 'com.fasterxml.jackson.core:jackson-databind:2.9.8'
-    compile 'org.jastadd:jastadd:2.3.4'
-    runtime 'org.jastadd:jastadd:2.3.4'
-    compile group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
-    compile group: 'org.apache.logging.log4j', name: 'log4j-api', version: '2.10.0'
-    compile group: 'org.apache.logging.log4j', name: 'log4j-core', version: '2.10.0'
-}
-
-sourceSets {
-    main {
-        java.srcDir "src/gen/java"
-        java.srcDir "buildSrc/gen/java"
+allprojects  {
+    group = 'de.tudresden.inf.st'
+    version = '0.1'
 }
-}
-
-test {
-    useJUnitPlatform()
 
-    maxHeapSize = '1G'
-}
-
-jar {
-    manifest {
-        attributes "Main-Class": 'org.jastadd.ros2rag.compiler.Compiler'
-    }
-
-    from {
-        configurations.compile.collect { it.isDirectory() ? it : zipTree(it) }
-    }
-}
-
-task relast(type: JavaExec) {
-    group = 'Build'
-    main = "-jar"
-
-    doFirst {
-        delete "src/gen/jastadd/*.ast"
-        delete "src/gen/jastadd/RelAst.jadd"
-        delete "src/gen/jastadd/RelAstRefResolver.jadd"
-        delete "src/gen/jastadd/RelAstResolverStubs.jrag"
-        mkdir  "src/gen/jastadd/"
-    }
-
-    args = [
-            "libs/relast.jar",
-            "./src/main/jastadd/RelAst.relast",
-            "--listClass=java.util.ArrayList",
-            "--jastAddList=JastAddList",
-            "--useJastAddNames",
-            "--file",
-            "--resolverHelper",
-            "--grammarName=./src/gen/jastadd/RelAST"
-    ]
-
-    inputs.files file("src/main/jastadd/RelAST.relast"),
-            file("libs/relast.jar")
-    outputs.files file("./src/gen/jastadd/RelAst.ast"),
-            file("src/gen/jastadd/RelAst.jadd"),
-            file("src/gen/jastadd/RelAstRefResolver.jadd"),
-            file('src/gen/jastadd/RelAstResolverStubs.jrag')
-}
+subprojects {
+    apply plugin: 'java'
+    apply plugin: 'idea'
 
-jastadd {
-    configureModuleBuild()
-    modules {
-        //noinspection GroovyAssignabilityCheck
-        module("RelAst") {
+    sourceCompatibility = 1.8
+    targetCompatibility = 1.8
 
-            java {
-                basedir "."
-                include "src/main/**/*.java"
-                include "src/gen/**/*.java"
+    task packageSources(type: Jar) {
+        classifier = 'sources'
+        from sourceSets.main.allSource
     }
 
-            jastadd {
-                basedir "."
-                include "src/main/jastadd/**/*.ast"
-                include "src/main/jastadd/**/*.jadd"
-                include "src/main/jastadd/**/*.jrag"
-                include "src/gen/jastadd/**/*.ast"
-                include "src/gen/jastadd/**/*.jadd"
-                include "src/gen/jastadd/**/*.jrag"
+    artifacts.archives packageSources
+    configurations {
+        testArtifacts.extendsFrom testRuntime
     }
 
-            scanner {
-                include "src/main/jastadd/RelAst.flex"
+    task testJar(type: Jar) {
+        classifier "test"
+        from sourceSets.test.output
     }
 
-            parser {
-                include "src/main/jastadd/Preamble.parser"
-                include "src/main/jastadd/RelAst.parser"
-            }
-        }
+    artifacts {
+        testArtifacts testJar
     }
 
-    cleanGen.doFirst {
-        delete "src/gen/java/org"
-        delete "src/gen-res/BuildInfo.properties"
+    repositories {
+        mavenCentral()
     }
 
-    preprocessParser.doFirst {
-
-        args += ["--no-beaver-symbol"]
-
+    dependencies {
+        implementation group: 'org.apache.logging.log4j', name: 'log4j-api', version: '2.11.2'
+        implementation group: 'org.apache.logging.log4j', name: 'log4j-core', version: '2.11.2'
+        testImplementation group: 'junit', name: 'junit', version: '4.12'
+        testImplementation group: 'org.hamcrest', name: 'hamcrest-junit', version: '2.0.0.0'
     }
 
-    module = "RelAst"
-
-    astPackage = 'org.jastadd.ros2rag.ast'
-
-    parser.name = 'RelAstParser'
-
-    genDir = 'src/gen/java'
-
-    buildInfoDir = 'src/gen-res'
-
-    scanner.genDir = "src/gen/java/org/jastadd/ros2rag/scanner"
-    parser.genDir = "src/gen/java/org/jastadd/ros2rag/parser"
-
-    jastaddOptions = ["--lineColumnNumbers", "--List=JastAddList", "--safeLazy", "--visitCheck=true", "--rewrite=cnta", "--cache=all"]
 }
-
-generateAst.dependsOn relast

gradle.properties

+jackson_version = 2.9.8
+apache_httpcomponents_version = 4.5.8

ros2rag.base/.gitignore

+build
+src/gen-res/
+src/gen/
+out/
+*.class

ros2rag.base/build.gradle

+
+apply plugin: 'java'
+apply plugin: 'jastadd'
+apply plugin: 'application'
+apply plugin: "idea"
+
+sourceCompatibility = 1.8
+
+mainClassName = 'org.jastadd.ros2rag.compiler.Compiler'
+
+repositories {
+    jcenter()
+}
+
+buildscript {
+    repositories.jcenter()
+    dependencies {
+        classpath 'org.jastadd:jastaddgradle:1.13.3'
+    }
+}
+
+dependencies {
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.4.0'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.0'
+    testCompile 'org.assertj:assertj-core:3.12.1'
+    compile 'com.fasterxml.jackson.core:jackson-core:2.9.8'
+    compile 'com.fasterxml.jackson.core:jackson-databind:2.9.8'
+    compile 'org.jastadd:jastadd:2.3.4'
+    runtime 'org.jastadd:jastadd:2.3.4'
+    compile group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
+}
+
+sourceSets {
+    main {
+        java.srcDir "src/gen/java"
+        java.srcDir "buildSrc/gen/java"
+    }
+}
+
+test {
+    useJUnitPlatform()
+
+    maxHeapSize = '1G'
+}
+
+jar {
+    manifest {
+        attributes "Main-Class": 'org.jastadd.ros2rag.compiler.Compiler'
+    }
+
+    from {
+        configurations.compile.collect { it.isDirectory() ? it : zipTree(it) }
+    }
+}
+
+task relast(type: JavaExec) {
+    group = 'Build'
+    main = "-jar"
+
+    doFirst {
+        delete "src/gen/jastadd/*.ast"
+        delete "src/gen/jastadd/Ros2Rag.jadd"
+        delete "src/gen/jastadd/Ros2RagRefResolver.jadd"
+        delete "src/gen/jastadd/Ros2RagResolverStubs.jrag"
+        mkdir  "src/gen/jastadd/"
+    }
+
+    args = [
+            "../libs/relast.jar",
+            "./src/main/jastadd/RelAst.relast",
+            "./src/main/jastadd/Ros2Rag.relast",
+            "--listClass=java.util.ArrayList",
+            "--jastAddList=JastAddList",
+            "--useJastAddNames",
+            "--file",
+            "--resolverHelper",
+            "--grammarName=./src/gen/jastadd/RelAST"
+    ]
+
+    inputs.files file("../libs/relast.jar"),
+            file("src/main/jastadd/RelAST.relast"),
+            file("src/main/jastadd/Ros2Rag.relast")
+    outputs.files file("./src/gen/jastadd/RelAst.ast"),
+            file("src/gen/jastadd/RelAst.jadd"),
+            file("src/gen/jastadd/RelAstRefResolver.jadd"),
+            file('src/gen/jastadd/RelAstResolverStubs.jrag')
+}
+
+jastadd {
+    configureModuleBuild()
+    modules {
+        //noinspection GroovyAssignabilityCheck
+        module("RelAst") {
+
+            java {
+                basedir "."
+                include "src/main/**/*.java"
+                include "src/gen/**/*.java"
+            }
+
+            jastadd {
+                basedir "."
+                include "src/main/jastadd/**/*.ast"
+                include "src/main/jastadd/**/*.jadd"
+                include "src/main/jastadd/**/*.jrag"
+                include "src/gen/jastadd/**/*.ast"
+                include "src/gen/jastadd/**/*.jadd"
+                include "src/gen/jastadd/**/*.jrag"
+            }
+
+            scanner {
+                include "src/main/jastadd/RelAst.flex"
+            }
+
+            parser {
+                include "src/main/jastadd/Preamble.parser"
+                include "src/main/jastadd/RelAst.parser"
+            }
+        }
+    }
+
+    cleanGen.doFirst {
+        delete "src/gen/java/org"
+        delete "src/gen-res/BuildInfo.properties"
+    }
+
+    preprocessParser.doFirst {
+
+        args += ["--no-beaver-symbol"]
+
+    }
+
+    module = "RelAst"
+
+    astPackage = 'org.jastadd.ros2rag.ast'
+
+    parser.name = 'RelAstParser'
+
+    genDir = 'src/gen/java'
+
+    buildInfoDir = 'src/gen-res'
+
+    scanner.genDir = "src/gen/java/org/jastadd/ros2rag/scanner"
+    parser.genDir = "src/gen/java/org/jastadd/ros2rag/parser"
+
+    jastaddOptions = ["--lineColumnNumbers", "--List=JastAddList", "--safeLazy", "--visitCheck=true", "--rewrite=cnta", "--cache=all"]
+}
+
+generateAst.dependsOn relast

src/main/jastadd/Navigation.jrag → ros2rag.base/src/main/jastadd/Navigation.jrag

@@ -13,6 +13,9 @@ aspect Navigation {
     to Program.relations()
     for program();
 
+  inh TypeDecl Component.containingTypeDecl();
+  eq TypeDecl.getChild().containingTypeDecl() = this;
+
 //  syn boolean RelationComponent.multiplicityOne() = false;
 //  eq OneRelationComponent.multiplicityOne() = true;
 //  syn boolean RelationComponent.multiplicityOpt() = false;

ros2rag.base/src/main/jastadd/Ros2Rag.relast

+Ros2Rag ::= MappingDefinition* SyncDefinition* Program;
+
+abstract SyncDefinition ::= <AlwaysApply:Boolean> ;
+
+rel SyncDefinition.Mapping? -> MappingDefinition;
+
+abstract TokenSyncDefinition : SyncDefinition;
+rel TokenSyncDefinition.token -> TokenComponent;
+
+ReadFromMqttDefinition : TokenSyncDefinition;
+WriteToMqttDefinition  : TokenSyncDefinition;
+
+MappingDefinition ::= <ID> <Content> ;
+
+rel MappingDefinition.from -> TypeDecl;
+rel MappingDefinition.to -> TypeDecl;

ros2rag.base/src/main/jastadd/backend/Aspect.jadd

+aspect Aspect {
+
+  public static final String ASTNode.aspectIndent = "  ";
+
+  public String Program.generateAspect() {
+    StringBuilder sb = new StringBuilder();
+    generateAspect(sb);
+    return sb.toString();
+  }
+
+  @Deprecated
+  public void Program.generateAspect(StringBuilder sb) {
+
+    sb.append("aspect ROS2RAG {\n");
+
+    // TODO generate getters and setters for ROS2RAG terminals (and attributes?)
+
+    sb.append("}\n");
+  }
+
+  public String Ros2Rag.generateAspect() {
+    StringBuilder sb = new StringBuilder();
+    generateAspect(sb);
+    return sb.toString();
+  }
+
+  // from "[always] read Joint.CurrentPosition using PoseToPosition;" generate method connectTo
+//    Joint j;
+//    j.getCurrentPosition().connectTo("/robot/joint2/pos");
+
+  public void Ros2Rag.generateAspect(StringBuilder sb) {
+    sb.append("aspect ROS2RAG {\n");
+
+    for (SyncDefinition def : getSyncDefinitionList()) {
+      def.generateAspect(sb);
+    }
+
+    sb.append("}\n");
+  }
+
+  abstract void SyncDefinition.generateAspect(StringBuilder sb);
+//  @Override
+//  void UpdateDefinition.generateAspect(StringBuilder sb) {
+//    // TODO
+//  }
+
+  // will be "addConnectionJoint_CurrentPosition" in example
+/* // see discussion in codimd (InstanceLocation), why this won't work here
+  Position.connectTo(String topic) {
+    mqttUpdater().addConnectionJoint_CurrentPosition(this, topic);
+  }
+  MqttUpdater.addConnectionJoint_CurrentPosition(Position target, String topic) {
+    // either
+    topicActionMap.put(topic, new Action(JOINT_CURRENTPOSITION, target));
+    // or
+    topicForJoint_CurrentPosition.put(topic, target);
+  }
+ */
+  @Override
+  void ReadFromMqttDefinition.generateAspect(StringBuilder sb) {
+    sb.append("public void ").append("type").append(".connectTo(String topic) {\n")
+      .append(aspectIndent).append("mqttUpdater().addConnection")
+      .append(getToken().containingTypeDecl().getName())
+      .append("_")
+      .append(getToken().getName())
+      .append("(this, topic);\n")
+      .append("}\n");
+  }
+
+  @Override
+  void WriteToMqttDefinition.generateAspect(StringBuilder sb) {
+    sb.append("public void ").append("type").append(".connectTo(String topic) {\n")
+      .append(aspectIndent).append("mqttUpdater().addConnection")
+      .append(getToken().containingTypeDecl().getName())
+      .append("_")
+      .append(getToken().getName())
+      .append("(this, topic);\n")
+      .append("}\n");
+  }
+
+}

ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java

+package org.jastadd.ros2rag.compiler;
+
+import beaver.Parser;
+import org.jastadd.ros2rag.ast.*;
+import org.jastadd.ros2rag.parser.RelAstParser;
+import org.jastadd.ros2rag.scanner.RelAstScanner;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+
+/**
+ * Testing Ros2Rag without parser.
+ *
+ * @author rschoene - Initial contribution
+ */
+public class SimpleMain {
+  public static void main(String[] args) {
+    /*
+    // as soon as the cache of isInSafetyZone is invalidated, update the value of Robot.ShouldUseLowSpeed with its value
+    [always] update Robot.ShouldUseLowSpeed with isInSafetyZone() using transformation();
+
+    // when a (new?) value for ShouldUseLowSpeed is set, send it over via mqtt
+    [always] write Robot.ShouldUseLowSpeed;
+
+    // when an update of pose is read via mqtt, then update current position
+    [always] read Joint.CurrentPosition using PoseToPosition;
+
+    // PBPose is a datatype defined in protobuf
+    PoseToPosition: map PBPose to Position using
+      pose.position.x += sqrt(.5 * size.x)
+      MAP round(2)
+      x = x / 100
+      IGNORE_IF_SAME
+    ;
+
+    --- using generated methods ---
+    Joint j;
+    j.getCurrentPosition().connectTo("/robot/joint2/pos");
+
+    RobotArm r;
+    // this should not be required
+    r.getShouldUseLowSpeed().addObserver(j.getCurrentPosition());
+    r.getShouldUseLowSpeed().connectTo("/robot/config/speed");
+     */
+    Ros2Rag model = new Ros2Rag();
+    Program program = parseProgram(Paths.get("src", "test", "resources", "MinimalExample.relast"));
+    model.setProgram(program);
+
+    MappingDefinition mappingDefinition = new MappingDefinition();
+    mappingDefinition.setID("PoseToPosition");
+    mappingDefinition.setFrom(TypeDecl.createRef("PBPose"));
+    mappingDefinition.setTo(TypeDecl.createRef("Position"));
+    mappingDefinition.setContent("      pose.position.x += sqrt(.5 * size.x)\n" +
+        "      MAP round(2)\n" +
+        "      x = x / 100\n" +
+        "      IGNORE_IF_SAME\n" +
+        "    ;");
+    model.addMappingDefinition(mappingDefinition);
+
+    ReadFromMqttDefinition readFromMqttDefinition = new ReadFromMqttDefinition();
+    readFromMqttDefinition.setAlwaysApply(false);
+    readFromMqttDefinition.setToken(TokenComponent.createRef("Joint.CurrentPosition"));
+    readFromMqttDefinition.setMapping(mappingDefinition);
+    model.addSyncDefinition(readFromMqttDefinition);
+
+    model.treeResolveAll();
+
+    System.out.println(model.generateAspect());
+  }
+
+  private static Program parseProgram(Path path) {
+    try (BufferedReader reader = Files.newBufferedReader(path)) {
+      RelAstScanner scanner = new RelAstScanner(reader);
+      RelAstParser parser = new RelAstParser();
+      return (Program) parser.parse(scanner);
+    } catch (IOException | Parser.Exception e) {
+      e.printStackTrace();
+    }
+    return null;
+  }
+}